The modern word for a sexual practice originating from Yoga, where more practical stances and dynamic techniques are used for sexual purposes. The mixture of yoga techniques and sex, this being individual or with (a) partner(s). It is commonly confused with tantric sex and kama sutra, which in part originate from the original style of masturboga.
The modern style originates in the 1960's London yoga underground and translates these ancient practices to a version more suited for contemporary lovers and situations.